siddarth jain

Northwestern University · Rehabilitation Institute of Chicago

sidd |at| u |dot| northwestern |dot| edu

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I am a Computer Science Ph.D. candidate in the McCormick School of Engineering at Northwestern University. I am interested in the application of artificial intelligence, computer vision and machine learning methods to benefit human-centered robotics and assistive technologies. I am working with Prof. Brenna Argall in the assistive & rehabilitation robotics laboratory at the Shirley Ryan AbilityLab (RIC). My current research involves designing and investigating semi-autonomy behaviors and adaptive assistance in shared control to facilitate operation of assistive machines for users with unique needs and preferences.


News

Publications

Siddarth Jain and Brenna Argall. Estimation of Surface Geometries in Point Clouds for the Manipulation of Novel Household Objects. In RSS 2017 Workshop on Spatial-Semantic Representations in Robotics, 2017. [ pdf ] [ bib ]
Point Clouds | Local Surface Geometries | Global Surface Descriptors | Grasp Generation and Ranking | Intent Inference

Deepak Gopinath, Siddarth Jain and Brenna Argall. Human-in-the-Loop Optimization of Shared Autonomy in Assistive Robotics. IEEE Robotics and Automation Letters (RA-L) vol. 2, no. 1, pp. 247-254, 2017. [ pdf ] [ bib ]
Shared Control | Assistive robotic arm | User-driven customization

Siddarth Jain and Brenna Argall. Robot Learning to Switch Control Modes for Assistive Teleoperation. In RSS 2016 Workshop on Planning for Human-Robot Interaction: Shared Autonomy and Collaborative Robotics, 2016 [ pdf ] [ bib ]
Assistive robotic arm | Mode Switching assistance | Low-dimensional interfaces | Machine Learning

Siddarth Jain and Brenna Argall. Grasp Detection for Assistive Robotic Manipulation. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2016. [ pdf ] [ bib ]
Robotic grasps | Grasping | Geometric approach | Shape Primitives | Grasp dataset | Assistive robotic arm | Point Clouds

Siddarth Jain, Ali Farshchiansadegh, Alexander Broad, Farnaz Abdollahi, Ferdinando Mussa-Ivaldi, Brenna Argall. Assistive Robotic Manipulation through Shared Autonomy and a Body-Machine Interface. In Proceedings of the 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR), 2015. [ pdf ] [ bib ]
Shared Control | Body-Machine interface | Assistive robotic arm | Path Planning | Rehabilitation robotics

Siddarth Jain, Katherine A Barsness, Brenna Argall. Automated and Objective Assessment of Surgical Training: Detection of Procedural Steps on Videotaped Performances. In Proceedings of the 17th International Conference on Digital Image Computing: Techniques and Applications (DICTA), 2015. [ pdf ] [ bib ]
Surgical assessment | Tracheoesophageal fistula repair | Skill evaluation | Medical image processing

Siddarth Jain, Katherine A Barsness, Ellie O'Brien, Brenna D Argall. Towards Validated Surgical Skills Assessment: Automated monitoring of Tracheoesophageal Fistula Repair (oral abstract). In International Pediatric Endosurgery Group 24th Annual Congress for Endosurgery in Children (IPEG), 2015

Siddarth Jain and Brenna Argall. Automated Perception of Safe Docking Locations with Alignment Information for Assistive Wheelchairs. In Proceedings of the 27th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014. [ pdf ] [ bib ]
Assistive Robotics | Wheelchairs | Robot docking | Docking structures | Docking detection | Point Clouds | Computer Vision

Teaching

EECS 469 / ME 495: Machine Learning & Artificial Intelligence for Robotics [ course page ]
Northwestern University, T.A., Fall 2016
Instructor for four lectures (Bayesian filters, Topics in ML and AI)
Evaluated reports, code assignments, projects and final exam papers

EECS 495: Machine Learning & Artificial Intelligence for Robotics [ course page ]
Northwestern University, T.A., Fall 2014
Instructor for machine learning lecture (Neural Networks and Genetic Algorithms)
Evaluated reports, code assignments, projects and final exam papers



Siddarth Jain. © 2017.